Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a controller onboard the vehicle, lidar data from the lidar device; receiving, by the controller, image data from the camera device; computing, by the controller, an edge map based on the lidar data; computing, by the controller, an inverse distance transformation (IDT) edge map based on the image data; aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters; storing, by the controller, extrinsic parameters as calibrations in a data storage device; and controlling, by the controller, the vehicle based on the stored calibrations.